US20050171635A1 - Walking type moving device and walking control device therefor and walking control method - Google Patents

Walking type moving device and walking control device therefor and walking control method Download PDF

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Publication number
US20050171635A1
US20050171635A1 US10/517,377 US51737704A US2005171635A1 US 20050171635 A1 US20050171635 A1 US 20050171635A1 US 51737704 A US51737704 A US 51737704A US 2005171635 A1 US2005171635 A1 US 2005171635A1
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United States
Prior art keywords
force
foot
contact
force sensor
gait
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Abandoned
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US10/517,377
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English (en)
Inventor
Takayuki Furuta
Tetsuo Tawara
Yu Okumura
Hiroaki Kitano
Masaharu Shimizu
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Japan Science and Technology Agency
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Japan Science and Technology Agency
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Assigned to JAPAN SCIENCE AND TECHNOLOGY AGENCY reassignment JAPAN SCIENCE AND TECHNOLOGY AGENCY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FURUTA, TAKAYUKI, KITANO, HIROAKI, OKUMURA, YU, SHIMIZU, MASAHARU, TAWARA, TETSUO
Publication of US20050171635A1 publication Critical patent/US20050171635A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/18—Figure toys which perform a realistic walking motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Definitions

  • the present invention relates to a walking mobile system, and more specifically to its walk control which can detect contact of foot sides.
  • a conventional biped walking robot is so designed as to form a pre-determined walk pattern (hereinafter to be called gait) data, control walk according to said gait data, and move leg portions by pre-determined walk patterns, thereby to realize biped walking.
  • gait a pre-determined walk pattern
  • walking posture tends to be unstable due to, for example, road surface condition, or the errors of physical parameters of robots themselves and other factors, and even to fall down in some cases.
  • walk control is conducted while recognizing the robot's walking state at real time without pre-determining gait data, it may be possible to stabilize walking posture, but, even in such cases, if unpredicted road surface conditions or the like are encountered, the walking posture goes unbalanced, and the robot falls down.
  • ZMP Compensation is necessary, whereby the points on the sole of a foot of the robot at each of which the composite momentum of floor reaction force and gravity becomes zero are converged to the target value by walk control.
  • controlling method for ZMP compensation such methods are known as that to accelerate and adjust the upper body of a robot by utilizing compliance control and converging ZMP to the target value, and that to adjust the landing position of the robot's foot, as disclosed in, for example, JP 5-305583 A.
  • a conventional biped walking robot is provided with a force sensor at a foot sole, and measures therewith horizontal floor reaction force at a foot sole.
  • the force sensor provided at a foot sole merely measures horizontal floor reaction force as was explained above, and if a foot side hits an obstacle while a foot portion is moved, for example, during walking motion of a biped walking robot, said robot can not recognize the contact of the foot side to such an obstacle, tries to continue walking, and thereby falls down in some cases.
  • the walking mobile system which comprises a main body having at both sides of its lower part a pair of leg portions attached thereto so as to be each pivotally movable biaxially, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, the foot portions being attached to their corresponding leg portions so as to be pivotally movable biaxially, drive means for pivotally moving leg, knee, and foot portions, respectively, a gait forming part to form gait data including target angle path, target angle velocity, and target angle acceleration corresponding to a required motion, and a walk controller for drive-controlling the drive means in accordance with the gait data, characterized by the walk controller comprising force sensors for sensing forces applied to each sole of foot portions, and a compensation part for adjusting the gait data from the gait forming part based on horizontal floor reaction force among the forces detected by the force sensors, and the force sensors are provided in the plurality of divided regions of sole
  • the force sensor is preferably a 3-axis force sensor, and, in the regions next to the end edges of respective soles, at least a part of outer edges of soles as the detecting part of a corresponding force sensor forms a circular arc with said force sensor as its center.
  • a walking mobile system in accordance with the present invention is preferably such that said force senor is a 3-axis force sensor, and the compensation part is provided with a hexaxial force computing part to compute forces of hexaxial direction based on detected signals from respective force sensors, and a contact detection part to detect the contact of foot sides by decomposition of force components.
  • the contact detection part preferably judges if the detected signals from respective force sensors are by the force from a floor surface, or generated from the contact to a matter on the floor surface, and outputs the flag information to the compensation part which force sensor detected the contact of a foot side.
  • the walk controller for the walking mobile system which comprises a main body having at both sides of its lower part a pair of leg portions attached thereto so as to be each pivotally movable biaxially, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, the foot portions being attached to their corresponding leg portions so as to be pivotally movable biaxially, drive means for pivotally moving leg, knee, and foot portions, respectively, and drive-controls the drive means in accordance with gait data including target angle path, target angle velocity, and target angle acceleration corresponding to a required motion, as well as comprises a force sensor to detect forces applied to a sole of each foot portion, and a compensation part to adjust the gait data from a gait forming part based on horizontal floor reaction force among the forces detected by the force sensor, characterized in that, the force sensors are provided to regions, respectively, divided into a plurality at the soles of respective foot portions,
  • the force sensor is preferably a 3-axis force sensor, and, in the regions next to the end edges of respective soles, at least a part of outer edges of soles as the detecting part of a corresponding force sensor forms a circular arc with said force sensor as its center.
  • a walk controller for the walking mobile system in accordance with the present invention is preferably such that said force senor is a 3-axis force sensor, and the compensation part is provided with a hexaxial force computing part to compute forces of hexaxial direction based on detected signals from respective force sensors, and a contact detection part to detect the contact of foot sides by decomposition of force components.
  • the contact detection part preferably judges if the detected signals from respective force sensors are by the force from a floor surface, or generated from the contact to a matter on the floor surface, and outputs the flag information to the compensation part which force sensor detected the contact of a foot side.
  • the walk control method for the walking mobile system which comprises a main body having at both sides of its lower part a pair of leg portions attached thereto so as to be each pivotally movable biaxially, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, the foot portions being attached to their corresponding leg portions so as to be pivotally movable biaxially, drive means for pivotally moving leg, knee, and foot portions, respectively, a gait forming part to form gait data including target angle path, target angle velocity, and target angle acceleration, corresponding to a required motion, and a walk controller to drive-control said drive means in accordance with said gait data, as well as detects the forces applied to a sole of each foot portion by force sensors, and adjusts the gait data from the gait forming part by a compensation part based on horizontal floor reaction force among the forces detected by the force sensor, characterized by including a first step to detect
  • the force sensor is preferably a 3-axis force sensor, and, in the regions next to the end edges of respective soles, at least a part of outer edges of soles as the detecting part of a corresponding force sensor forms a circular arc with said force sensor as its center.
  • a walk control method for the walking mobile system in accordance with the present invention is preferably such that said force senor is a 3-axis force sensor, and the compensation part is provided with a hexaxial force computing part to compute forces of hexaxial direction based on detected signals from respective force sensors, and a contact detection part to detect the contact of foot sides by decomposition of force components.
  • the contact detection part preferably judges if the detected signals from respective force sensors are by the force from a floor surface, or generated from the contact to a matter on the floor surface, and outputs the flag information to the compensation part which force sensor detected the contact of a foot side.
  • the drive means is drive-controlled by adjusting the gait data from the gait forming part by the compensation part.
  • the compensation part adjusts the gait data with reference to the contact of foot sides detected by the force sensors provided in the region next to the end edges of respective foot soles among the force sensors.
  • the gait data is adjusted based on the horizontal floor reaction force generated from the friction force of the sole with a floor surface, referring to the contact of the foot side, and a stability of a main body, preferably the robot's upper body is attempted.
  • a robot's respective foot portions hit, for example, an obstacle on the floor surface or a step or others, the contact of a foot side is detected and adjusted by the force sensors, thereby the robot's stability is maintained, and walk control is assured without falling down.
  • the force sensors provided in said respective divided parts are 3-axis force sensors, and at least a part of the outer edge of a sole as the detecting part of the corresponding force sensor forms a circular arc face with said force sensor as the center, since the distance between the contact point and the force sensor is always equal upon the contact of a matter to the part of said circular arc face of the outer edge of these regions, the calculation of the contact force based on the detected signal from the force sensor can be simplified, and the detection time can be shortened.
  • the hexaxial directional force can be computed by at least two 3-axis force sensors by the hexaxial force computing part, each dividing part can detect the force in the hexaxial direction like a hexaxial force sensor by having cheap 3-axis force sensors, respectively, and hence the cost can be reduced. Also, by judging which force sensor detects the contact of a foot side based on the makeup of the force sensor by decomposition of force components by the contact detection part, the contact of a foot side can be detected.
  • the compensation part can adjust the gait data from the gait forming part, referring to which force sensor detected the contact of a foot side based on the flag information.
  • FIG. 1 is a schematic view illustrating a mechanical makeup of a biped walking robot according to the present invention.
  • FIG. 2 is a block diagram illustrating a electrical makeup of the biped walking robot shown in FIG. 1 .
  • FIG. 3 is a block diagram illustrating a compensation part in a walk controller of the biped walking robot shown in FIG. 1 .
  • FIG. 4 is a schematic view illustrating a makeup of a force sensors provided at a soles of respective foot portions of the biped walking robot shown in FIG. 1 , where (A) is a plan view, and (B) is a cross-sectional view.
  • FIG. 5 (A)-(C) are graphs, respectively, showing locations of each triaxial force sensor shown in FIG. 4 , and origin of force measurement.
  • FIG. 6 is a flowchart showing a walk control motion of the biped walking robot shown in FIG. 1 .
  • FIG. 7 is a flowchart showing a contact detecting motion of the biped walking robot shown in FIG. 1 .
  • FIG. 8 (A)-(C) are schematic views, respectively, showing the states of contact detection of a foot side by force sensors of the biped walking robot shown in FIG. 1 .
  • FIGS. 9 (A) and (B) are plan views showing the examples of distortion of force sensors shown in FIG. 4 .
  • FIG. 1 and FIG. 2 show the makeup of an embodiment of a biped walking robot with a biped walking mobile system applied thereto in accordance with the present invention.
  • a biped walking robot 10 includes an upper body 11 which is a main body having at both sides of its lower part a pair of leg portions 13 L and 13 R attached thereto, each of the leg portions having a knee portion 12 L, 12 R in its midway, and a foot portion 14 L, 14 R at its lower end.
  • each of said leg portions 13 L, 13 R has six joint portions, namely in the order from above, the joint portions 15 L, 15 R for the leg portion rotation of a waist (around z axis) with respect to the upper body 11 , the joint portions 16 L, 16 R for the roll direction of a waist (around x axis), the joint portions 17 L, 17 R for the pitch direction of a waist (around y axis), the joint portions 18 L, 18 R for the pitch direction of the knee portion 12 L, 12 R, the joint portions 19 L, 19 R for the pitch direction of an ankle portion with respect to the foot portion 14 L, 14 R, and the joint portions 20 L, 20 R for the roll direction of the ankle portion.
  • each joint portion 15 L, 15 R to 20 L, 20 R is constituted with a joint driving motor.
  • a waist joint comprises said joint portions 15 L, 15 R, 16 L, 16 R, 17 L, and 17 R
  • a foot joint comprises joint portions 19 L, 19 R, 20 L, and 20 R. Further between a waist and a knee joints, they are connected with the thigh links 21 L, 21 R, and between a knee and a foot joints, they are connected with the lower thigh links 22 L, 22 R.
  • leg portions 13 L, 13 R and the foot portions 14 L, 14 R at both sides, left and right, of the biped walking robot 10 have six degrees of freedom, respectively, and it is so made up to be capable of walking at will in a three dimensional space by drive-controlling these twelve joint portions during walk with respective drive motors at appropriate angles, and by giving desired motions to whole leg portions 13 L, 13 R, and foot portions 14 L, 14 R.
  • said foot portions 14 L, 14 R are provided with force sensor parts 23 L, 23 R at the soles (bottom surfaces).
  • the force sensor parts 23 L, 23 R detect, as described later, force at respective foot portions 14 L, 14 R, the horizontal floor reaction force in particular.
  • said upper body 11 is illustrated like a mere box, but actually it may be provided with a head portion or two hands.
  • FIG. 2 illustrates the electrical makeup of the biped walking robot 10 shown in FIG. 1 .
  • the biped walking robot 10 is provided with a gait forming part 24 to form gait data corresponding to the targeted motion, and a walk controller 30 to drive-control a drive means, namely the above-mentioned respective joint portions, that is, the joint driving motors 15 L, 15 R, to 20 L, 20 R based on the gait data.
  • xyz coordinate system is used as that for the biped walking robot 10 with x direction as anteroposterior direction (forward as +), with y direction as horizontal direction (inner direction as +), and with z direction as vertical direction (upward direction as +).
  • the gait forming part 24 forms the gait data, responding to the targeted motion input from the outside, including target angle path, target angle velocity, and target angle acceleration of respective joint portions 15 L, 15 R, to 20 L, 20 R required for the biped walking robot 10 to walk.
  • the walk controller 30 comprises an angle measurement unit 31 , a compensation part 32 , a controlling part 33 , and a motor controlling unit 34 .
  • the angle measurement unit 31 is to measure the angular positions of respective joint drive motors, that is, the state vector ⁇ about angle and angle velocity, and outputs to the compensation part 32 , by inputting the angular information of respective joint drive motors from, for example, a rotary encoder or the like provided to the joint drive motors of respective joint portions 15 L, 15 R to 20 L, 20 R.
  • the compensation part 32 as shown in FIG. 3 , is provided with a hexaxial force computing part 32 a , a contact detection part 32 b , and a main compensation unit 32 c .
  • the hexaxial force computing part 32 a outputs the hexaxial force (Fx, Fy, Fz, Tx, Ty, and Tz) to the main compensation unit 32 c based on the detected output from force sensor parts 23 L, 23 R.
  • the contact detection part 32 b also decomposes the force components based on the detected output from the force sensor parts 23 L, 23 R, judges if each detected output from each force sensor part 23 L, 23 R is by the force from the floor surface, or by the contact to a matter on the floor surface, and, referring to the sensor makeup information recorded in advance in a sensor makeup information part 32 d , judges which force sensor 36 a , 36 b , 36 c , or 36 d (mentioned later) of respective force sensor part 23 L, 23 R detected the contact of a foot side, and then outputs the flag information of said force sensor to the main compensation unit 32 c .
  • the contact detection part 32 b outputs the output signals ⁇ Swx( 0 ), Swy( 0 ), Swz( 0 ); Swx( 1 ), Swy( 1 ), Swz( 1 ); . . . ⁇ , and outputs the flag information of respective force sensors by setting the flag of the output signal from a force sensor which detected the contact of a foot side, as, for example, from 0 to 1.
  • the controlling part 33 forms control signals of respective joint drive motors, that is, torque vectors ⁇ based on the vector ( ⁇ i- ⁇ 0 ), by subtracting the angular vector ⁇ 0 at a robot's respective joint portions from the vector ⁇ i which is the gait data corrected by the compensation part 32 . Further, the motor controlling unit 34 drive-controls respective joint drive motors according to the control signals (the torque vectors ⁇ ) from the controlling part 33 .
  • the force sensor part 23 L comprises four force sensors 36 a , 36 b , 36 c , and 36 d , made up by horizontally divided, namely, two divisions in x direction and two divisions in y direction at the bottom of the sole plate 35 which is the bottom face of a foot portion 14 L. Since each of the force sensors 36 a , 36 b , 36 c , and 36 d is of identical structure, explanation is made below of the force sensor 36 a .
  • the force sensor 36 a is a 3-axis force sensor provided between a sole 37 above and a sole 38 below, and detects the force received by the lower sole 38 .
  • the lower sole 38 is supported pivotally movably to the front and behind, the left and right, with a sensor axis of the force sensor 36 a as the center, and is so designed as to be capable of landing in all directions by pivoting, and is provided with a side wall 38 a rising upward at a part next to the outer edge, namely, a foot side of a foot portion 14 L. Therefore, when a foot portion 14 L hits a side of a matter on the floor surface, the side wall 38 a of the lower sole 38 collides on said matter, transmits its impact strength to the force sensor 36 a , which can hence detect said contact.
  • force sensor parts 23 L and 23 R are divided, respectively, into four force sensors 36 a to 36 d , but not limited as such, they may be divided at least into four at both sides of heel portions 14 L, 14 R, and both sides of toe portions of foot portions, and furthermore, may be divided into five or more. Also, each of the force sensors 36 a to 36 d is located in line at a sole, as illustrated in a figure, but not limited as such, may be located arbitrarily.
  • each force sensor 36 a to 36 d since the force applied to each force sensor 36 a to 36 d becomes small, its resolution is improved. Therefore, an A/D converter of relatively low quality and low cost can be used for A/D conversion of the signals from each force sensor 36 a to 36 d in order to obtain the same resolution, thereby the cost for an A/D converter can be reduced.
  • the above-mentioned force sensors 36 a to 36 d are 3-axis force sensors, and with two or more 3-axis force sensors, the hexaxial directional force can be computed.
  • FIG. 5 explanation is made, referring to FIG. 5 , of computation of hexaxial directional force from 3-axis force sensors of n in number in general.
  • 3-axis force sensors of n in number S 1 , S 2 , S 3 , - - - , Sn are arranged at a sole with respect to the origin O (Ox, Oy) of force measurement.
  • the origin O of force measurement preferably better agrees, for example, to the drive coordinate system of a foot joint.
  • the hexaxial force computing part 32 a provided in the compensation part 32 based on the detected output from each of 3-axis force sensors 36 a to 36 d , and the forces in hexaxial direction are detected.
  • the horizontal floor reaction force F is expressed as the force in horizontal direction generated from the friction between the floor surface and a robot 10 's sole, namely, a resultant force of Fx in X direction and Fy in Y direction, and its vector Fc and its magnitude
  • each of the 3-axis force sensors 36 a to 36 d has data dispersion in respective detected output, as well as the detected output varies by the environmental temperature and the secular distortion and others. Therefore, the detected output from each of the 3-axis force sensors 36 a to 36 d is automatically calibrated in the compensation part 32 by, for example, auto-calibration.
  • the biped walking robot 10 in accordance with the embodiment of the present invention is constituted as described above, and its walking motion is conducted by the flowchart shown in FIG. 6 as described below.
  • the force sensor 23 L, 23 R provided to both foot portions 14 L, 14 R detect forces respectively, and output to the hexaxial force computing part 32 a and the contact detection part 32 b of the compensation part 32 .
  • the angle measurement unit 31 measures the state vector ⁇ of respective joint portions 15 L, 15 R to 20 L, 20 R, and outputs to the compensation part 32 .
  • the hexaxial force computing part 32 a computes hexaxial force based on the detected output from respective force sensors 36 a to 36 d of force sensor parts 23 L, 23 R, and outputs to the main compensation unit 32 c .
  • the contact detection part 32 b as described below based on the detected output from respective force sensors 36 a to 36 d of force sensor parts 23 L, 23 R, judges which of the force sensors 36 a to 36 d detects the contact of a foot side, and outputs the flag information of said force sensors 36 a to 36 d to the main compensation unit 32 c .
  • the main compensation unit 32 c of the compensation part 32 computes horizontal floor reaction force F based on the hexaxial force from the hexaxial force computing part 32 a.
  • the main compensation unit 32 c of the compensation part 32 adjusts the gait data, while referring to the flag information from the contact detection part 32 b , based on said horizontal floor reaction force F and the state vector ⁇ of respective joint portions 15 L, 15 R to 20 L, 20 R from the angle measurement unit 31 , and outputs the vector ⁇ i to the controlling part 33 .
  • the compensation part 32 may adjust the gait data by applying hexaxial force to the known ZMP compensation function.
  • said known ZMP compensation function the international patent application (International Publication Number WO02/100606 A1) laid open on Dec. 19, 2002 by the present applicant, for example, may be referred to.
  • the gait data may be adjusted by applying hexaxial force to the conventional compensation function.
  • the controlling part 33 subtracts an angle vector ⁇ 0 at respective joint portions from the vector ⁇ i, generates, based on the vector ( ⁇ i- ⁇ 0 ), the control signals for respective joint drive motors, namely, torque vectors ⁇ , and outputs to the motor control unit 34 .
  • the motor control unit 34 drive-controls the joint drive motors of respective joint portions based on the torque vectors ⁇ .
  • the biped walking robot 10 conducts walk motions corresponding to the required motions.
  • the direction of a foot center of the force sensor is obtained from the sensor composing information recorded in advance in the sensor composing information part 32 d , and said direction is assumed as plus with respect to a three-axis.
  • the force sensors 36 a to 36 d detect force
  • the contact detection part 32 b judges if the plus force is detected with respect to X direction (Fx(K)>0?)
  • the force sensors 36 a and/or 36 d are acting as touch sensors, respectively, thereby the contact detection is conducted by the contact detection part 32 b.
  • the gait data is adjusted, referring to the flag information showing the contact of a foot side by the contact detection part 32 b , based on the horizontal floor reaction force F from the force sensor parts 23 L, 23 R provided to the soles of respective foot portions 14 L, 14 R in the main compensation unit 32 c of the compensation part 32 , and vector ⁇ i is generated, whereby the stability of the robot 10 is realized with said horizontal floor reaction force F as the reference model.
  • the force sensor parts 23 L, 23 R provided to soles can detect the contact of foot sides, it would not continue walking motion as it has been doing, and fall down in some cases as in the prior cases, and it is possible to assuredly conduct walking motion according to the required motion.
  • the biped walking robot 10 in accordance with this embodiment, by adjusting the gait data, based on the horizontal floor reaction force F computed from the detected signals from the force sensors 23 L, 23 R provided to the soles of respective foot portions 14 L, 14 R, namely, from the 3-axis force sensors 36 a to 36 d provided to the soles divided into plurality, and further referring to the detection of contact of foot sides by the contact detection part 32 b , can conduct walk control with the horizontal floor reaction force F generated from the friction between a sole and the floor surface as the reference model.
  • the force sensor parts 23 L, 23 R can be utilized as touch sensors about side faces, thereby contact of a foot side can be detected, the makeup is simplified, and the cost lowered, and the robot 10 's walk stability can be realized even with an obstacle or a step on the floor surface.
  • the force sensor parts 23 L, 23 R have, as shown in FIG. 4 , the side wall 38 a of the lower sole 38 of respective force sensors 36 a to 36 d having an outer shape of rectangle as a whole, but not limited as such as shown in FIG. 9 (A), at least a part of the side wall 38 a of the lower sole 38 as a detecting part, the corner parts in case of illustration in the figure may be formed as circular arc planes with the radii R 1 , R 2 , R 3 , and R 4 with respective force sensors 36 a , 36 b , 36 c , and 36 d as centers.
  • the robot's stability can be maintained by detecting the contact of foot sides, and adjusting the gait data, and hence the walk control can be assuredly conducted without falling down, thereby an extremely superb biped walking mobile system, its walk controller, and the method of walk control are provided.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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US10/517,377 2002-06-12 2003-06-04 Walking type moving device and walking control device therefor and walking control method Abandoned US20050171635A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2002-172109 2002-06-12
JP2002172109A JP3598507B2 (ja) 2002-06-12 2002-06-12 歩行式移動装置及びその歩行制御装置及び歩行制御方法
PCT/JP2003/007089 WO2003106112A1 (ja) 2002-06-12 2003-06-04 歩行式移動装置及びその歩行制御装置並びに歩行制御方法

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US (1) US20050171635A1 (ja)
EP (1) EP1552909A4 (ja)
JP (1) JP3598507B2 (ja)
KR (1) KR100608983B1 (ja)
CN (1) CN100588509C (ja)
TW (1) TW589245B (ja)
WO (1) WO2003106112A1 (ja)

Cited By (7)

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US20120172770A1 (en) * 2009-07-01 2012-07-05 Faisal Almesfer Control System for a Mobility Aid
US20130144437A1 (en) * 2011-12-05 2013-06-06 Hyundai Motor Company Module and method for measuring repulsive force for walking robot
US9778132B1 (en) * 2015-12-16 2017-10-03 X Development Llc Methods and systems for force sensor calibration
US10960552B2 (en) * 2017-10-23 2021-03-30 Ubtech Robotics Corp Footed robot landing control method and device
CN114486037A (zh) * 2022-02-18 2022-05-13 橙象医疗科技（广州）有限公司 一种具有测力装置的路况模拟设备及其控制方法
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CN1659002A (zh) 2005-08-24
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TW589245B (en) 2004-06-01
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